CN109352679B - Steel wire locking device of wire transmission driven snake-shaped arm - Google Patents
Steel wire locking device of wire transmission driven snake-shaped arm Download PDFInfo
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- CN109352679B CN109352679B CN201811131930.5A CN201811131930A CN109352679B CN 109352679 B CN109352679 B CN 109352679B CN 201811131930 A CN201811131930 A CN 201811131930A CN 109352679 B CN109352679 B CN 109352679B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The invention relates to a steel wire locking device of a wire transmission driven serpentine arm, which comprises a steel wire guide mechanism, a steel wire locking mechanism and a steel wire releasing mechanism, wherein the steel wire guide mechanism is arranged at the front end and consists of a plurality of wire guide discs which are sequentially connected, the steel wire locking mechanism and the steel wire releasing mechanism are connected to the rear side of the steel wire guide mechanism, and the tail ends of the steel wire locking mechanism and the steel wire releasing mechanism are connected with a chassis. Compared with the prior art, the invention can realize the adjustment and fixation of the pose of the snake-shaped arm only by one motor, and the space required by the machine body is smaller. Meanwhile, the steel wire locking unit applies a 4-level force amplification mechanism, so that the whole mechanism has high load capacity. The medical operation instrument has passive and good operation performance, and can exert the advantages in places where man-machine cooperation is needed, so that the medical operation instrument can be better applied to the medical field to assist doctors in performing operations.
Description
Technical Field
The invention relates to a locking device, in particular to a steel wire locking device of a wire drive driven snake-shaped arm.
Background
In the modern medical field, the use of robots in laparoscopic surgery is attracting more and more attention, and a great number of medical robots are also successively introduced by large companies. However, the mechanical arm of most robots is limited in size due to the adoption of a traditional driving and transmission system, and is easy to interfere with a doctor in an operation. The advent of serpentine arms has enabled this problem to be solved in a great deal, but serpentine arms are currently used in many industrial applications, such as motor-driven wire-driven serpentine arm robots developed by OC Robotics, uk. Since it is applied to the industrial field and driven by a motor, the size of the driving part of the serpentine arm is too large and the control aspect is complex, which makes such serpentine arm robot not applicable to the medical field. Therefore, in order to enable the serpentine arm to be used in the medical field, the reduction in size and good operability of the wire drive driving portion is a primary problem to be solved.
Disclosure of Invention
The invention aims to redesign the driving part of the serpentine arm based on wire transmission, abandon the active driving of a motor, adopt the passive driving to obtain smaller size and better operability, and have higher load capacity to enable the serpentine arm to replace the wire locking device of the wire transmission passive serpentine arm used by a common mechanical arm.
The purpose of the invention can be realized by the following technical scheme:
a steel wire locking device of a wire transmission driven snake-shaped arm comprises a steel wire guide mechanism, a steel wire locking mechanism and a steel wire loosening mechanism.
The steel wire guide mechanism is arranged at the front end, consists of a plurality of wire guide discs which are sequentially connected and is connected with an external snake-shaped arm.
The steel wire locking mechanism and the steel wire loosening mechanism are connected to the rear side of the steel wire guide mechanism, and the tail ends of the steel wire locking mechanism and the steel wire loosening mechanism are connected with the chassis.
The steel wire extends out of the steel wire locking device with larger diameter and is connected to the snake-shaped arm of the wire drive with smaller diameter; when the steel wire is loosened, the snake-shaped arm can be adjusted to the pose required by people through manual adjustment; when the steel wire is locked, the pose of the serpentine arm is fixed and is used for supporting a plurality of specific medical instruments.
The steel wire guiding mechanism makes the steel wire can stretch out the back from steel wire locking device and not take place to interfere and can penetrate in the middle of the less snakelike arm of diameter, including the first godet that sets gradually, the second godet, third godet and fourth godet, 12 pulleys have been arranged respectively on first godet and the second godet, 12 wire guide holes have been arranged respectively on third godet and the fourth godet, first godet, second godet, third godet are through bolted connection, fourth godet is connected through copper post and the second godet that is the circumference and distributes. The wires pass through the wire guiding discs in sequence, so that interference is effectively avoided, the wires extend out in a circumferential distribution, and the diameter of the wires in the circumferential arrangement is reduced, so that the wires can penetrate into the snake-shaped arm with a smaller diameter.
Every two pulleys are a set of and are circumferentially distributed on the first wire guide disc and the second wire guide disc, the two pulleys are connected through a pulley frame, and the pulley frame is provided with a bolt for connecting the first wire guide disc, the second wire guide disc and the third wire guide disc.
The steel wire locking mechanism is composed of six steel wire locking unit groups distributed circumferentially, and each steel wire locking unit group is connected with a first wire guiding disc and a base plate through a bottom plate.
The steel wire locking unit group consists of a front steel wire locking unit and a rear steel wire locking unit, and pulleys are arranged on the top plate between the front steel wire locking unit and the rear steel wire locking unit through pulley shafts and pulley carriages. The front steel wire locking unit and the rear steel wire locking unit need to provide enough clamping force to lock the steel wire wheel, so that the locking of the steel wire and the fixing of the pose of the S-shaped arm are realized.
The front steel wire locking unit and the rear steel wire locking unit respectively comprise an underframe, a wedge-shaped block, a vertical sliding block, a constant force-increasing lever, a first hinge rod, a transverse sliding block, an L-shaped plate, a second hinge rod, an equal-arm lever, a pressing block, a front support, a rear support, a steel wire wheel shaft frame and a top plate, wherein the wedge-shaped block, the vertical sliding block, the constant force-increasing lever, the first hinge rod, the second hinge rod, the equal-arm lever and the pressing block jointly form a four-stage force amplifying mechanism, so that the pressure of an initial compression spring is amplified by dozens of times to enable the pressing block at the tail end to compress.
The wedge block is guided by 3 guide optical axes, the three guide optical axes are fixed by the front and the rear optical axis brackets, a compression spring is arranged at the wedge block to provide initial pressure for the force amplifying mechanism, so that the wedge block can move along a straight line,
vertical slider has the spout of an open type and leads through two vertical fixed optical axes, is fixed with two gyro wheels on the vertical slider, and the friction is littleer when the inclined plane contact of purpose with the wedge.
The constant force increasing lever is connected with the vertical sliding block through a sliding groove shaft arranged in an opening sliding groove on the vertical sliding block and is connected with the rear support through a hinge shaft to form a fulcrum of the constant force increasing lever.
The first hinge rod is connected with the constant force increasing lever through a first hinge rod shaft, and the transverse sliding block and the L-shaped plate are connected into a whole through a bolt and are connected with the first hinge rod through a hinge shaft.
2 guide optical axes are fixed between the front support and the rear support and guide the transverse sliding block.
The second hinge rod is connected with the hole on the L-shaped plate through a second hinge rod shaft. The equal-arm lever is connected with the second hinge rod through a hinge shaft.
The pressing block is connected with the equal-arm lever through a hinge shaft and is connected with the equal-arm lever shaft fixed on the steel wire wheel shaft frame to form a fulcrum.
The compression spring gives an initial pressure to the wedge-shaped block, so that the wedge-shaped block is pressed towards the vertical sliding block under the guidance of the optical axis, and the first force amplification is realized through the inclined surface effect; the vertical slide block moves upwards to drive the constant force increasing lever to move upwards, and the force is amplified for the second time through the lever effect; the constant force increasing lever drives the first hinge rod to push the transverse sliding block, and third force amplification is realized through an angle effect; the transverse sliding block pushes an L-shaped plate connected with the transverse sliding block, the L-shaped plate pushes the second hinge rod, and fourth force amplification is achieved through the angle effect again; and finally, converting the outward force of the second hinge rod into pressure towards the steel wire wheel through the equal-arm lever, further compressing the steel wire wheel and locking the steel wire. When the steel wire wheel is locked by the four-stage force amplifying mechanism in the steel wire locking unit, the steel wire cannot move, so that the pose of the snake-shaped arm is fixed; under the condition that the steel wire wheel is not locked and can rotate freely, the steel wire can move freely, so that the snake-shaped arm can also adjust the pose freely.
The steel wire wheel comprises a front steel wire wheel and a rear steel wire wheel which are connected into a whole through a bolt, and a clockwork spring is arranged in the steel wire wheel, so that the steel wire wheel always has a torque which is opposite to the rotating direction of the steel wire pulling steel wire wheel, and the steel wire wheel has certain wire winding capacity and keeps the tension of the steel wire all the time.
The steel wire loosening mechanism comprises a lead screw stepping motor, a lead screw nut, a circular pressure plate, a lead screw support and a chassis, the circular pressure plate is provided with 6 through slots, an optical axis of a wedge-shaped block is penetrated through the slots, the lead screw nut is guided by the circular pressure plate and arranged on the lead screw and connected with the circular pressure plate, the lead screw stepping motor is connected with the chassis, the lead screw traverses through the steel wire locking mechanism and penetrates through the lead screw support fixed on the first guide plate, the lead screw is driven by the motor to rotate, and the circular pressure plate connected with the lead screw nut is driven to perform linear motion along the optical axis.
The screw rod stepping motor drives the screw rod to rotate, drives the pressure plate connected with the screw rod nut to press the wedge block under the action of the guide optical axis, so that the steel wire locking unit loosens the steel wire wheel, the steel wire wheel can rotate freely, the steel wire connected with the steel wire wheel can move freely, and the pose of the snake arm can be adjusted freely.
The principle of the invention is as follows: in the steel wire locking stage, the compression spring at the wedge block provides an initial pressure, and the pressing block presses the steel wire wheel through a series of transmissions of the force amplifying mechanism in the steel wire locking unit, so that the steel wire fixed on the steel wire wheel is also fixed, and the pose of the snake-shaped arm connected with the steel wire locking device can be fixed, so that the snake-shaped arm becomes a rigid body, has certain load capacity, and can support some equipment. At the steel wire phase of relaxing, step motor rotation drives circular pressure disk and presses to the wedge, makes compression spring compressed again, presses the power on the steel wire wheel to be withdrawn from, and the steel wire wheel can free rotation, and then penetrates the steel wire of snakelike arm also can free movement to people can manual adjustment snakelike arm's gesture, reach the purpose of wanting.
Compared with the prior art, the invention has no huge motors, fussy control and huge volume, can realize the adjustment and fixation of the pose of the snake-shaped arm by only one motor, has smaller space required by a machine body, higher load capacity and good operation performance, and can better exert the advantages in places needing human-computer cooperation, so the invention can be better applied to the medical field to assist doctors in performing operations.
Drawings
FIG. 1 is a perspective view of the present invention in connection with a serpentine arm;
FIG. 2 is an overall perspective view of the present invention;
FIG. 3 is a perspective view of the wire guide mechanism of the present invention;
FIG. 4 is a perspective view of the wire releasing mechanism and the single wire locking unit set of the present invention;
FIG. 5 is a perspective view of a circular platen and a feed screw nut in the wire releasing mechanism of the present invention;
FIG. 6 is a perspective view of a wire locking unit set of the present invention;
fig. 7 is a partial perspective view of an upper portion of the wire locking unit of the present invention;
fig. 8 is a partial perspective view of a lower portion of the wire locking unit of the present invention;
FIG. 9 is a partial perspective view of the vertical slide of the wire locking unit of the present invention;
fig. 10 is a perspective view of a wire wheel in the wire locking unit of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Examples
A wire locking device of a wire drive driven serpentine arm is connected with the serpentine arm in a structure shown in figure 1, and a serpentine arm 61 is connected with a wire guide mechanism 2 of a wire locking device 60.
As shown in fig. 2, the wire lock device 60 includes a wire guide mechanism 2, a wire lock mechanism 3, and a wire release mechanism 4. The wire 1 extends from the wire locking mechanism 3 through the wire guide mechanism to the exterior of the entire wire locking device.
As shown in fig. 3, the wire guide mechanism 2 includes a first godet 5, a second godet 6, a third godet 7 and a fourth godet 8. Pulleys 9 are mounted on the first godet 5 and the second godet 6 through a pulley shaft 10 and a pulley frame 11, and the pulleys 9 are respectively 12 on the first godet 5 and the second godet 6, are grouped into one group, and are circumferentially distributed on the first godet 5 and the second godet 6. On the third godet 7 and the fourth godet 8 there are respectively 12 circumferentially distributed wire guide holes 13. The first godet 5, the second godet 6 and the third godet 7 are respectively in bolt connection through threaded holes machined in a pulley frame 11, and the fourth godet 8 is connected with the second godet 6 through 6 copper columns 12 distributed on the circumference, so that the third godet 7 is located between the second godet 6 and the fourth godet 8.
As shown in fig. 4, the wire locking unit group 17 connects the first godet 5 and the base plate 22 via the base plate 16 to constitute the wire locking mechanism 3. As shown in fig. 2, the wire locking mechanism 3 has a total of 6 wire locking unit groups 17, which are distributed circumferentially in the wire locking mechanism. In the wire releasing mechanism 4, a screw rod support 14 is connected with a first wire guiding disc 5, a screw rod stepping motor 21 is connected with a rear disc, so that a screw rod 20 penetrates through the screw rod support 14, 2 screw rod nuts 19 are arranged on the screw rod 20 and are respectively connected with a circular pressure disc 18, and the circular pressure disc 18 is tightly attached to a wire locking unit and penetrates through guide optical shafts 49 on a front wire locking unit 24 and a rear wire locking unit 25. When the screw rod stepping motor 21 rotates forwards, the circular pressure plate 18 presses the wedge-shaped blocks 47 in the front steel wire locking unit 24 and the rear steel wire locking unit 25 and realizes the function of loosening steel wires. When the screw motor 21 rotates reversely, the circular pressure plate 18 is far away from the wedge block 47, and the compression spring 50 presses the wedge block 47 and enables the steel wire to be locked again.
As shown in fig. 5, a perspective view of the circular platen 18 and the feed screw nut 19 in the wire releasing mechanism 4 is shown. The optical axis on the lower side of the three guide optical axes 49 of each of the front wire locking unit 24 and the rear wire locking unit 25 passes through 6 through slots circumferentially distributed on the circular platen 18, thereby guiding the feeding and retreating movement of the circular platen 18. The circular pressure plate 18 is connected with the feed screw nut 19 by four bolts.
As shown in fig. 6, the wire locking unit group 17 includes a front wire locking unit 24 and a rear wire locking unit 25, between which a pulley 23 is mounted on the top plate 15 through a pulley shaft and a pulley yoke, thereby achieving guidance of the wire in the rear wire locking unit 25 so as not to interfere with the front wire locking unit 24.
As shown in fig. 7, a perspective view of an upper portion of the front wire locking unit 24. The rear bracket 26 and the front bracket 27 are bolted to the base plate 16 and are symmetrically disposed at both sides of the front wire locking unit 24, respectively. The optical axis 28 is fixed by the rear holder 26 and the front holder 27, and guides the lateral slider 35 to be laterally slidable. The optical axis 29 is fixed through holes in the bottom plate 16 and the top plate 15 and guides the vertical slider 30 so that it can slide vertically. The constant force lever 31 is connected to a first hinge 33 via a hinge axis 32, and the first hinge 33 is symmetrically disposed on both sides of the constant force lever 31 and connected to a transverse slider 35 via a hinge axis 34. The L-shaped plate 36 is bolted together with the transverse slider 35. The 4 second hinges 37 are connected to the L-shaped plate 36 and the rocker 38 by 4 hinge axes 39, respectively. The equal arm lever shaft 40 is connected with the wire wheel shaft frame 45 and the top plate 15 and serves as a fulcrum of the equal arm lever 38. The pressing piece 41 is connected to the rocker arm 38 by a hinge shaft 42. The wire wheel bracket 45 presses the wire wheel shaft 44 and is connected to the bottom plate 16, and two ends of the wire wheel shaft 44 are provided with planes, so that the wire wheel shaft 44 is fixed when the wire wheel bracket 45 presses the wire wheel shaft 44. The wire wheel 43 is installed in the front wire locking unit 24 through the wire wheel shaft 44.
As shown in fig. 8, is a perspective view of the lower portion of the front wire locking unit 24. A front optical axis mount 46 and a rear optical axis mount 48 are respectively attached to the base plate 16 and hold 3 guide optical axes 49 therein. Guide optical axis 49 provides a guide for wedge block 47 to enable wedge block 47 to move laterally. On the left side of wedge block 47 are mounted 3 compression springs 50 to provide a source of pressure for wedge block 47. The rear wire locking unit 25 has a structure substantially identical to that of the front wire locking unit 24 by reversely mounting the wire wheel 43.
As shown in fig. 9, the optical axis 29 guides the vertical slider 30 so that it can move up and down. The chute shaft 53 is disposed in an open slot of the vertical slider 30 and is connected to the constant force lever 31. The fulcrum of the constant force lever 31 is provided by a fixed connection of the hinge shaft 51 to the rear bracket 26. In order to reduce the sliding friction between the vertical slider 30 and the wedge-shaped block 47, two pulleys 52 are mounted on the vertical slider 30.
As shown in fig. 10, the wire wheel 43 is formed by bolting a front wire wheel 55 and a rear wire wheel 54 together and is disposed on the wire wheel shaft 44, and a bearing 57 is additionally provided between the wire wheel 43 and the wire wheel shaft 44 in order to make the rotation smoother. The front wire wheel 55 is provided with a wire groove 58 and a wire fixing hole 59. The wire passes through the wire fixing hole 59 and is fixed to the front wire wheel 55, and then is wound in the wire groove 58. Since the wire is designed to be tensioned, a spring 56 is installed inside the wire reel 43, and the inner and outer hooks are configured to be caught between the wire wheel 44 and the wire wheel 43. The spring 56 is provided with a pre-tension force during installation so that it can provide a torque opposite to the rotation of the wire wheel 43 when pulling the wire, thereby tensioning the wire.
As shown in fig. 7, 8, 9 and 10, the core of the whole wire locking unit is a four-stage force amplification mechanism, and the principle is as follows: the compression spring 50 pushes the wedge block 47 to press the vertical slide block 30, the vertical slide block 30 is pushed to move upwards through the action of the inclined surface of the wedge block 47 and the pulley 52 of the vertical slide block 30, and the first force amplification is realized through the inclined surface effect; the vertical slide block 30 drives the constant force increasing lever 31 to move upwards, the first hinge rod 33 is pushed, the transverse slide block 35 is driven to move, and the second and third times of force amplification are realized through the lever and the hinge rod; the L-shaped plate 36 connected to the transversal slider 35 pushes the second hinge rod 37 to achieve a fourth amplification of the force; the outward force of the second hinge rod 37 is reversed by the equal arm lever 38, so that the pressing block 41 connected with the equal arm lever 38 presses the wire wheel 3, thereby locking the wire wheel 43 to prevent the wire wheel from rotating, and further fixing the wire connected with the wire wheel.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (6)
1. A steel wire locking device of a wire drive driven snake-shaped arm is characterized by comprising a steel wire guide mechanism, a steel wire locking mechanism and a steel wire releasing mechanism;
the steel wire guide mechanism is arranged at the front end of the steel wire locking device and consists of a plurality of wire guide discs which are connected in sequence;
the steel wire locking mechanism and the steel wire releasing mechanism are connected to the rear side of the steel wire guiding mechanism, and the tail ends of the steel wire locking mechanism and the steel wire releasing mechanism are connected with a chassis of the steel wire locking device;
the steel wire locking mechanism is composed of six steel wire locking unit groups distributed circumferentially, and each steel wire locking unit group is connected with the wire guide disc and the chassis through the bottom plate;
the steel wire locking unit group consists of a front steel wire locking unit and a rear steel wire locking unit, and a pulley I is arranged on a top plate of the steel wire locking device between the front steel wire locking unit and the rear steel wire locking unit through a pulley shaft and a pulley yoke I;
the front steel wire locking unit and the rear steel wire locking unit respectively comprise an underframe, a wedge-shaped block, a vertical sliding block, a constant force-increasing lever, a first hinge rod, a transverse sliding block, an L-shaped plate, a second hinge rod, an equal-arm lever, a pressing block, a front support, a rear support, a steel wire wheel shaft frame and a top plate, wherein the wedge-shaped block, the vertical sliding block, the constant force-increasing lever, the first hinge rod, the second hinge rod, the equal-arm lever and the pressing block jointly form a four-stage force amplifying mechanism;
the wedge-shaped block is guided by three first guide optical axes which are fixed through a front optical axis bracket and a rear optical axis bracket, and a compression spring is arranged at the wedge-shaped block;
the vertical sliding block is provided with an open sliding groove and is guided by two vertically fixed optical axes, and two rollers are fixed on the vertical sliding block;
the constant force increasing lever is connected with the vertical sliding block through a sliding groove shaft in an open sliding groove arranged on the vertical sliding block and is connected with the rear support through a hinge shaft to form a fulcrum of the constant force increasing lever;
the first hinge rod is connected with the constant force increasing lever through a first hinge rod shaft, and the transverse sliding block and the L-shaped plate are connected into a whole through a bolt and are connected with the first hinge rod through a hinge shaft;
2 guide optical axes II are fixed between the front support and the rear support and used for guiding the transverse sliding block;
the second hinge rod is connected with the hole in the L-shaped plate through a second hinge rod shaft, and the equal-arm lever is connected with the second hinge rod through a hinge shaft;
the pressing block is connected with the equal-arm lever through a hinge shaft and is connected with the equal-arm lever shaft fixed on the steel wire wheel shaft frame to form a fulcrum.
2. The wire locking device of a wire drive passive serpentine arm according to claim 1, wherein the wire guiding mechanism includes a first wire guiding disc, a second wire guiding disc, a third wire guiding disc and a fourth wire guiding disc, which are sequentially disposed, wherein 12 second pulleys are disposed on the first wire guiding disc and the second wire guiding disc, 12 wire guiding holes are disposed on the third wire guiding disc and the fourth wire guiding disc, respectively, the first wire guiding disc, the second wire guiding disc and the third wire guiding disc are connected by bolts, and the fourth wire guiding disc is connected by copper columns and second wire guiding discs which are circumferentially distributed.
3. The wire locking device of a wire driven passive serpentine arm as claimed in claim 2, wherein the two pulleys are divided into a group, and are circumferentially distributed on the first godet and the second godet, and the two pulleys are connected with each other through a second pulley frame, and the second pulley frame is provided with a bolt for connecting the first godet, the second godet and the third godet.
4. The wire locking device of a wire driven passive serpentine arm as claimed in claim 1, wherein said compression spring imparts an initial compression force to the wedge such that the wedge is forced down the vertical slide guided by the first guide optical axis to achieve a first force amplification by a ramp effect; the vertical slide block moves upwards to drive the constant force increasing lever to move upwards, and the force is amplified for the second time through the lever effect; the constant force increasing lever drives the first hinge rod to push the transverse sliding block, and third force amplification is realized through an angle effect; the transverse sliding block pushes an L-shaped plate connected with the transverse sliding block, the L-shaped plate pushes the second hinge rod, and fourth force amplification is achieved through the angle effect again; and finally, converting the outward force of the second hinge rod into pressure towards the steel wire wheel through the equal-arm lever, further compressing the steel wire wheel and locking the steel wire.
5. The wire locking device of a wire driven passive serpentine arm as claimed in claim 1, wherein the wire wheel comprises a front wire wheel and a rear wire wheel, which are connected by a bolt to form a whole, and a spring is installed inside the wire wheel.
6. The wire locking device of a driven S-shaped arm of wire drive according to claim 2, wherein the wire releasing mechanism comprises a screw stepping motor, a screw nut, a circular pressure plate, a screw bracket and a base plate, the circular pressure plate has 6 through holes, so that a first guiding optical axis at the wedge passes through the circular pressure plate to guide the circular pressure plate, the screw nut is arranged on the screw and connected with the circular pressure plate, the screw stepping motor is connected with the base plate, the screw traverses the wire locking mechanism and passes through the screw bracket fixed on the first wire guiding plate, the screw rod is driven to rotate by the screw stepping motor, and the circular pressure plate connected with the screw nut is driven to perform linear motion along the first guiding optical axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811131930.5A CN109352679B (en) | 2018-09-27 | 2018-09-27 | Steel wire locking device of wire transmission driven snake-shaped arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811131930.5A CN109352679B (en) | 2018-09-27 | 2018-09-27 | Steel wire locking device of wire transmission driven snake-shaped arm |
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| CN109352679A CN109352679A (en) | 2019-02-19 |
| CN109352679B true CN109352679B (en) | 2021-07-09 |
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| KR20110026935A (en) * | 2009-09-09 | 2011-03-16 | 삼성전자주식회사 | Structure of robot joint and robot having the same |
| DE112016001610T5 (en) * | 2015-04-06 | 2017-12-28 | Ekso Bionics, Inc. | Cable loop actuator for an exoskeleton |
| CN106361383B (en) * | 2016-08-27 | 2018-09-25 | 天津大学 | A kind of natural cavity Minimally Invasive Surgery controller with locking function |
| CN106236270B (en) * | 2016-08-31 | 2019-04-23 | 北京术锐技术有限公司 | A kind of flexible operation tool system of structural bone redundant arrangement |
| CN108015800B (en) * | 2017-12-29 | 2023-09-29 | 苏州大学 | Joint locking mechanism |
| CN108237522B (en) * | 2017-12-29 | 2021-04-30 | 哈尔滨工业大学深圳研究生院 | Rope driving device and mechanical arm |
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